OpenRaiser/Intern-Atlas huggingface dataset:
Measure-Theoretic Aspects of Star-Free and Group Languages
Venue: arXiv cs.FL 2025
Year: 2025

A language $L$ is said to be ${\cal C}$-measurable, where ${\cal C}$ is a class of languages, if there is an infinite sequence of languages in ${\cal C}$ that ``converges'' to $L$. We investigate the properties of ${\cal C}$-measurability in the cases where ${\cal C}$ is SF, the class of all star-free languages, and G, the class of all group languages. It is shown that a language $L$ is SF-measurable if and only if $L$ is GD-measurable, where GD is the class of all generalised definite languages (a more restricted subclass of star-free languages). This means that GD and SF have the same ``measuring power'', whereas GD is a very restricted proper subclass of SF. Moreover, we give a purely algebraic characterisation of SF-measurable regular languages, which is a natural extension of Schutzenberger's theorem stating the correspondence between star-free languages and aperiodic monoids. We also show the probabilistic independence of star-free and group languages, which is an important application of the former result. Finally, while the measuring power of star-free and generalised definite languages are equal, we show that the situation is rather opposite for subclasses of group languages as follows. For any two local subvarieties ${\cal C} \subsetneq {\cal D}$ of group languages, we have $\{L \mid L \text{ is } {\cal C}\text{-measurable}\} \subsetneq \{ L \mid L \text{ is } {\cal D}\text{-measurable}\}$.
GAF: Gaussian Action Field as a 4D Representation for Dynamic World Modeling in Robotic Manipulation
Venue: arXiv cs.RO 2025
Year: 2025

Accurate scene perception is critical for vision-based robotic manipulation. Existing approaches typically follow either a Vision-to-Action (V-A) paradigm, predicting actions directly from visual inputs, or a Vision-to-3D-to-Action (V-3D-A) paradigm, leveraging intermediate 3D representations. However, these methods often struggle with action inaccuracies due to the complexity and dynamic nature of manipulation scenes. In this paper, we adopt a V-4D-A framework that enables direct action reasoning from motion-aware 4D representations via a Gaussian Action Field (GAF). GAF extends 3D Gaussian Splatting (3DGS) by incorporating learnable motion attributes, allowing 4D modeling of dynamic scenes and manipulation actions. To learn time-varying scene geometry and action-aware robot motion, GAF provides three interrelated outputs: reconstruction of the current scene, prediction of future frames, and estimation of init action via Gaussian motion. Furthermore, we employ an action-vision-aligned denoising framework, conditioned on a unified representation that combines the init action and the Gaussian perception, both generated by the GAF, to further obtain more precise actions. Extensive experiments demonstrate significant improvements, with GAF achieving +11.5385 dB PSNR, +0.3864 SSIM and -0.5574 LPIPS improvements in reconstruction quality, while boosting the average +7.3% success rate in robotic manipulation tasks over state-of-the-art methods.
NeuroCoreX: An Open-Source FPGA-Based Spiking Neural Network Emulator with On-Chip Learning
Venue: arXiv cs.NE 2025
Year: 2025

Spiking Neural Networks (SNNs) are computational models inspired by the structure and dynamics of biological neuronal networks. Their event-driven nature enables them to achieve high energy efficiency, particularly when deployed on neuromorphic hardware platforms. Unlike conventional Artificial Neural Networks (ANNs), which primarily rely on layered architectures, SNNs naturally support a wide range of connectivity patterns, from traditional layered structures to small-world graphs characterized by locally dense and globally sparse connections. In this work, we introduce NeuroCoreX, an FPGA-based emulator designed for the flexible co-design and testing of SNNs. NeuroCoreX supports all-to-all connectivity, providing the capability to implement diverse network topologies without architectural restrictions. It features a biologically motivated local learning mechanism based on Spike-Timing-Dependent Plasticity (STDP). The neuron model implemented within NeuroCoreX is the Leaky Integrate-and-Fire (LIF) model, with current-based synapses facilitating spike integration and transmission . A Universal Asynchronous Receiver-Transmitter (UART) interface is provided for programming and configuring the network parameters, including neuron, synapse, and learning rule settings. Users interact with the emulator through a simple Python-based interface, streamlining SNN deployment from model design to hardware execution. NeuroCoreX is released as an open-source framework, aiming to accelerate research and development in energy-efficient, biologically inspired computing.
SceneAware: Scene-Constrained Pedestrian Trajectory Prediction with LLM-Guided Walkability
Venue: arXiv cs.CV 2025
Year: 2025

Accurate prediction of pedestrian trajectories is essential for applications in robotics and surveillance systems. While existing approaches primarily focus on social interactions between pedestrians, they often overlook the rich environmental context that significantly shapes human movement patterns. In this paper, we propose SceneAware, a novel framework that explicitly incorporates scene understanding to enhance trajectory prediction accuracy. Our method leverages a Vision Transformer~(ViT) scene encoder to process environmental context from static scene images, while Multi-modal Large Language Models~(MLLMs) generate binary walkability masks that distinguish between accessible and restricted areas during training. We combine a Transformer-based trajectory encoder with the ViT-based scene encoder, capturing both temporal dynamics and spatial constraints. The framework integrates collision penalty mechanisms that discourage predicted trajectories from violating physical boundaries, ensuring physically plausible predictions. SceneAware is implemented in both deterministic and stochastic variants. Comprehensive experiments on the ETH/UCY benchmark datasets show that our approach outperforms state-of-the-art methods, with more than 50\% improvement over previous models. Our analysis based on different trajectory categories shows that the model performs consistently well across various types of pedestrian movement. This highlights the importance of using explicit scene information and shows that our scene-aware approach is both effective and reliable in generating accurate and physically plausible predictions. Code is available at: https://github.com/juho127/SceneAware.
Collaborative Editable Model
Venue: arXiv cs.AI 2025
Year: 2025

Vertical-domain large language models (LLMs) play a crucial role in specialized scenarios such as finance, healthcare, and law; however, their training often relies on large-scale annotated data and substantial computational resources, impeding rapid development and continuous iteration. To address these challenges, we introduce the Collaborative Editable Model (CoEM), which constructs a candidate knowledge pool from user-contributed domain snippets, leverages interactive user-model dialogues combined with user ratings and attribution analysis to pinpoint high-value knowledge fragments, and injects these fragments via in-context prompts for lightweight domain adaptation. With high-value knowledge, the LLM can generate more accurate and domain-specific content. In a financial information scenario, we collect 15k feedback from about 120 users and validate CoEM with user ratings to assess the quality of generated insights, demonstrating significant improvements in domain-specific generation while avoiding the time and compute overhead of traditional fine-tuning workflows.
DCRM: A Heuristic to Measure Response Pair Quality in Preference Optimization
Venue: arXiv cs.CL 2025
Year: 2025

Recent research has attempted to associate preference optimization (PO) performance with the underlying preference datasets. In this work, our observation is that the differences between the preferred response $y^+$ and dispreferred response $y^-$ influence what LLMs can learn, which may not match the desirable differences to learn. Therefore, we use distance and reward margin to quantify these differences, and combine them to get Distance Calibrated Reward Margin (DCRM), a metric that measures the quality of a response pair for PO. Intuitively, DCRM encourages minimal noisy differences and maximal desired differences. With this, we study 3 types of commonly used preference datasets, classified along two axes: the source of the responses and the preference labeling function. We establish a general correlation between higher DCRM of the training set and better learning outcome. Inspired by this, we propose a best-of-$N^2$ pairing method that selects response pairs with the highest DCRM. Empirically, in various settings, our method produces training datasets that can further improve models' performance on AlpacaEval, MT-Bench, and Arena-Hard over the existing training sets.
Hierarchical Multi-Agent Reinforcement Learning-based Coordinated Spatial Reuse for Next Generation WLANs
Venue: arXiv cs.MA 2025
Year: 2025

High-density Wi-Fi deployments often result in significant co-channel interference, which degrades overall network performance. To address this issue, coordination of multi access points (APs) has been considered to enable coordinated spatial reuse (CSR) in next generation wireless local area networks. This paper tackles the challenge of downlink spatial reuse in Wi-Fi networks, specifically in scenarios involving overlapping basic service sets, by employing hierarchical multi-agent reinforcement learning (HMARL). We decompose the CSR process into two phases, i.e., a polling phase and a decision phase, and introduce the HMARL algorithm to enable efficient CSR. To enhance training efficiency, the proposed HMARL algorithm employs a hierarchical structure, where station selection and power control are determined by a high- and low-level policy network, respectively. Simulation results demonstrate that this approach consistently outperforms baseline methods in terms of throughput and latency across various network topologies. Moreover, the algorithm exhibits robust performance when coexisting with legacy APs. Additional experiments in a representative topology further reveal that the carefully designed reward function not only maximizes the overall network throughput, but also improves fairness in transmission opportunities for APs in high-interference regions.
AMPLIFY: Actionless Motion Priors for Robot Learning from Videos
Venue: arXiv cs.RO 2025
Year: 2025

Action-labeled data for robotics is scarce and expensive, limiting the generalization of learned policies. In contrast, vast amounts of action-free video data are readily available, but translating these observations into effective policies remains a challenge. We introduce AMPLIFY, a novel framework that leverages large-scale video data by encoding visual dynamics into compact, discrete motion tokens derived from keypoint trajectories. Our modular approach separates visual motion prediction from action inference, decoupling the challenges of learning what motion defines a task from how robots can perform it. We train a forward dynamics model on abundant action-free videos and an inverse dynamics model on a limited set of action-labeled examples, allowing for independent scaling. Extensive evaluations demonstrate that the learned dynamics are both accurate, achieving up to 3.7x better MSE and over 2.5x better pixel prediction accuracy compared to prior approaches, and broadly useful. In downstream policy learning, our dynamics predictions enable a 1.2-2.2x improvement in low-data regimes, a 1.4x average improvement by learning from action-free human videos, and the first generalization to LIBERO tasks from zero in-distribution action data. Beyond robotic control, we find the dynamics learned by AMPLIFY to be a versatile latent world model, enhancing video prediction quality. Our results present a novel paradigm leveraging heterogeneous data sources to build efficient, generalizable world models. More information can be found at https://amplify-robotics.github.io/.
Optimizing System Latency for Blockchain-Encrypted Edge Computing in Internet of Vehicles
Venue: arXiv cs.NI 2025
Year: 2025

As Internet of Vehicles (IoV) technology continues to advance, edge computing has become an important tool for assisting vehicles in handling complex tasks. However, the process of offloading tasks to edge servers may expose vehicles to malicious external attacks, resulting in information loss or even tampering, thereby creating serious security vulnerabilities. Blockchain technology can maintain a shared ledger among servers. In the Raft consensus mechanism, as long as more than half of the nodes remain operational, the system will not collapse, effectively maintaining the system's robustness and security. To protect vehicle information, we propose a security framework that integrates the Raft consensus mechanism from blockchain technology with edge computing. To address the additional latency introduced by blockchain, we derived a theoretical formula for system delay and proposed a convex optimization solution to minimize the system latency, ensuring that the system meets the requirements for low latency and high reliability. Simulation results demonstrate that the optimized data extraction rate significantly reduces system delay, with relatively stable variations in latency. Moreover, the proposed optimization solution based on this model can provide valuable insights for enhancing security and efficiency in future network environments, such as 5G and next-generation smart city systems.
Cross-Modal Geometric Hierarchy Fusion: An Implicit-Submap Driven Framework for Resilient 3D Place Recognition
Venue: arXiv cs.CV 2025
Year: 2025

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent point cloud density, induced by ego-motion dynamics and environmental disturbances during repeated traversals, leads to descriptor instability, and (2) Representation fragility stems from reliance on single-level geometric abstractions that lack discriminative power in structurally complex scenarios. To address these limitations, we propose a novel framework that redefines 3D place recognition through density-agnostic geometric reasoning. Specifically, we introduce an implicit 3D representation based on elastic points, which is immune to the interference of original scene point cloud density and achieves the characteristic of uniform distribution. Subsequently, we derive the occupancy grid and normal vector information of the scene from this implicit representation. Finally, with the aid of these two types of information, we obtain descriptors that fuse geometric information from both bird's-eye view (capturing macro-level spatial layouts) and 3D segment (encoding micro-scale surface geometries) perspectives. We conducted extensive experiments on numerous datasets (KITTI, KITTI-360, MulRan, NCLT) across diverse environments. The experimental results demonstrate that our method achieves state-of-the-art performance. Moreover, our approach strikes an optimal balance between accuracy, runtime, and memory optimization for historical maps, showcasing excellent Resilient and scalability. Our code will be open-sourced in the future.
Towards Robust Learning to Optimize with Theoretical Guarantees
Venue: arXiv cs.LG 2025
Year: 2025

Learning to optimize (L2O) is an emerging technique to solve mathematical optimization problems with learning-based methods. Although with great success in many real-world scenarios such as wireless communications, computer networks, and electronic design, existing L2O works lack theoretical demonstration of their performance and robustness in out-of-distribution (OOD) scenarios. We address this gap by providing comprehensive proofs. First, we prove a sufficient condition for a robust L2O model with homogeneous convergence rates over all In-Distribution (InD) instances. We assume an L2O model achieves robustness for an InD scenario. Based on our proposed methodology of aligning OOD problems to InD problems, we also demonstrate that the L2O model's convergence rate in OOD scenarios will deteriorate by an equation of the L2O model's input features. Moreover, we propose an L2O model with a concise gradient-only feature construction and a novel gradient-based history modeling method. Numerical simulation demonstrates that our proposed model outperforms the state-of-the-art baseline in both InD and OOD scenarios and achieves up to 10 $\times$ convergence speedup. The code of our method can be found from https://github.com/NetX-lab/GoMathL2O-Official.
Public Acceptance of Cybernetic Avatars in the service sector: Evidence from a Large-Scale Survey in Dubai
Venue: arXiv cs.RO 2025
Year: 2025

Cybernetic avatars are hybrid interaction robots or digital representations that combine autonomous capabilities with teleoperated control. This study investigates the acceptance of cybernetic avatars in the highly multicultural society of Dubai, with particular emphasis on robotic avatars for customer service. Specifically, we explore how acceptance varies as a function of robot appearance (e.g., android, robotic-looking, cartoonish), deployment settings (e.g., shopping malls, hotels, hospitals), and functional tasks (e.g., providing information, patrolling). To this end, we conducted a large-scale survey with over 1,000 participants. Overall, cybernetic avatars received a high level of acceptance, with physical robot avatars receiving higher acceptance than digital avatars. In terms of appearance, robot avatars with a highly anthropomorphic robotic appearance were the most accepted, followed by cartoonish designs and androids. Animal-like appearances received the lowest level of acceptance. Among the tasks, providing information and guidance was rated as the most valued. Shopping malls, airports, public transport stations, and museums were the settings with the highest acceptance, whereas healthcare-related spaces received lower levels of support. An analysis by community cluster revealed among others that Emirati respondents showed significantly greater acceptance of android appearances compared to the overall sample, while participants from the 'Other Asia' cluster were significantly more accepting of cartoonish appearances. Our study underscores the importance of incorporating citizen feedback into the design and deployment of cybernetic avatars from the early stages to enhance acceptance of this technology in society.
SLEEPING-DISCO 9M: A large-scale pre-training dataset for generative music modeling
Venue: arXiv cs.SD 2025
Year: 2025

We present Sleeping-DISCO 9M, a large-scale pre-training dataset for music and song. To the best of our knowledge, there are no open-source high-quality dataset representing popular and well-known songs for generative music modeling tasks such as text-music, music-captioning, singing-voice synthesis, melody reconstruction and cross-model retrieval. Past contributions focused on isolated and constrained factors whose core perspective was to create synthetic or re-recorded music corpus (e.g. GTSinger, M4Singer) and arbitrarily large-scale audio datasets (e.g. DISCO-10M and LAIONDISCO-12M) had been another focus for the community. Unfortunately, adoption of these datasets has been below substantial in the generative music community as these datasets fail to reflect real-world music and its flavour. Our dataset changes this narrative and provides a dataset that is constructed using actual popular music and world-renowned artists.
ADRD: LLM-Driven Autonomous Driving Based on Rule-based Decision Systems
Venue: arXiv cs.AI 2025
Year: 2025

How to construct an interpretable autonomous driving decision-making system has become a focal point in academic research. In this study, we propose a novel approach that leverages large language models (LLMs) to generate executable, rule-based decision systems to address this challenge. Specifically, harnessing the strong reasoning and programming capabilities of LLMs, we introduce the ADRD(LLM-Driven Autonomous Driving Based on Rule-based Decision Systems) framework, which integrates three core modules: the Information Module, the Agents Module, and the Testing Module. The framework operates by first aggregating contextual driving scenario information through the Information Module, then utilizing the Agents Module to generate rule-based driving tactics. These tactics are iteratively refined through continuous interaction with the Testing Module. Extensive experimental evaluations demonstrate that ADRD exhibits superior performance in autonomous driving decision tasks. Compared to traditional reinforcement learning approaches and the most advanced LLM-based methods, ADRD shows significant advantages in terms of interpretability, response speed, and driving performance. These results highlight the framework's ability to achieve comprehensive and accurate understanding of complex driving scenarios, and underscore the promising future of transparent, rule-based decision systems that are easily modifiable and broadly applicable. To the best of our knowledge, this is the first work that integrates large language models with rule-based systems for autonomous driving decision-making, and our findings validate its potential for real-world deployment.
LLM-Powered Intent-Based Categorization of Phishing Emails
Venue: arXiv cs.CR 2025
Year: 2025

Phishing attacks remain a significant threat to modern cybersecurity, as they successfully deceive both humans and the defense mechanisms intended to protect them. Traditional detection systems primarily focus on email metadata that users cannot see in their inboxes. Additionally, these systems struggle with phishing emails, which experienced users can often identify empirically by the text alone. This paper investigates the practical potential of Large Language Models (LLMs) to detect these emails by focusing on their intent. In addition to the binary classification of phishing emails, the paper introduces an intent-type taxonomy, which is operationalized by the LLMs to classify emails into distinct categories and, therefore, generate actionable threat information. To facilitate our work, we have curated publicly available datasets into a custom dataset containing a mix of legitimate and phishing emails. Our results demonstrate that existing LLMs are capable of detecting and categorizing phishing emails, underscoring their potential in this domain.
Quantum Enhanced Entropy Pool for Cryptographic Applications and Proofs
Venue: arXiv cs.CR 2025
Year: 2025

This paper investigates the integration of quantum randomness into Verifiable Random Functions (VRFs) using the Ed25519 elliptic curve to strengthen cryptographic security. By replacing traditional pseudorandom number generators with quantum entropy sources, we assess the impact on key security and performance metrics, including execution time, and resource usage. Our approach simulates a modified VRF setup where initialization keys are derived from a quantum random number generator source (QRNG). The results show that while QRNGs could enhance the unpredictability and verifiability of VRFs, their incorporation introduces challenges related to temporal and computational overhead. This study provides valuable insights into the trade-offs of leveraging quantum randomness in API-driven cryptographic systems and offers a potential path toward more secure and efficient protocol design. The QRNG-based system shows increased (key generation times from 50 to 400+ microseconds, verification times from 500 to 3500 microseconds) and higher CPU usage (17% to 30%) compared to the more consistent performance of a Go-based VRF (key generation times below 200 microseconds, verification times under 2000 microseconds, CPU usage below 10%), highlighting trade-offs in computational efficiency and resource demands.